add debug log support

Author: stuqdog

src/viam/examples/dial_api_key/example_dial_api_key.cpp

@@ -22,7 +22,6 @@
 #include <viam/sdk/robot/service.hpp>
 #include <viam/sdk/rpc/dial.hpp>
 
-using viam::robot::v1::Status;
 using namespace viam::sdk;
 
 namespace po = boost::program_options;

src/viam/sdk/common/client_helper.hpp

@@ -4,6 +4,7 @@
 #include <grpcpp/support/sync_stream.h>
 
 #include <viam/sdk/common/exception.hpp>
+#include <viam/sdk/common/private/utils.hpp>
 #include <viam/sdk/common/proto_type.hpp>
 #include <viam/sdk/common/utils.hpp>
 
@@ -53,6 +54,13 @@ class ClientHelper {
 
     template <typename RequestSetupCallable>
     ClientHelper& with(const AttributeMap& extra, RequestSetupCallable&& rsc) {
+        if (extra) {
+            auto key = extra->find(impl::debug_map_key);
+            if (key != extra->end()) {
+                ProtoType value = *(key->second);
+                debug_key_ = *value.get<std::string>();
+            }
+        }
         *request_.mutable_extra() = map_to_struct(extra);
         return with(std::forward<RequestSetupCallable>(rsc));
     }
@@ -67,6 +75,9 @@ class ClientHelper {
         *request_.mutable_name() = client_->name();
         ClientContext ctx;
 
+        if (debug_key_ != "") {
+            ctx.set_debug_key(debug_key_);
+        }
         const auto result = (stub_->*pfn_)(ctx, request_, &response_);
         if (result.ok()) {
             return std::forward<ResponseHandlerCallable>(rhc)(
@@ -112,6 +123,7 @@ class ClientHelper {
    private:
     ClientType* client_;
     StubType* stub_;
+    std::string debug_key_;
     MethodType pfn_;
     RequestType request_;
     ResponseType response_;

src/viam/sdk/common/private/utils.hpp

@@ -0,0 +1,11 @@
+#pragma once
+
+namespace viam {
+namespace sdk {
+namespace impl {
+
+const char debug_map_key[] = "com.viam.debug_key_internal";
+
+}  // namespace impl
+}  // namespace sdk
+}  // namespace viam

src/viam/sdk/common/utils.cpp

@@ -14,6 +14,7 @@
 
 #include <viam/api/common/v1/common.pb.h>
 
+#include <viam/sdk/common/private/utils.hpp>
 #include <viam/sdk/common/private/version_metadata.hpp>
 #include <viam/sdk/components/component.hpp>
 #include <viam/sdk/registry/registry.hpp>
@@ -108,6 +109,53 @@ void ClientContext::set_client_ctx_authority_() {
     wrapped_context_.set_authority("viam-placeholder");
 }
 
+std::string random_debug_key() {
+    static const char alphanum[] = "abcdefghijklmnopqrstuvwxyz";
+    static std::default_random_engine generator(
+        std::chrono::system_clock::now().time_since_epoch().count());
+    std::uniform_int_distribution<int> distribution(0, sizeof(alphanum) - 1);
+
+    std::string key;
+    key.reserve(6);
+
+    for (int i = 0; i < 6; ++i) {
+        key += alphanum[distribution(generator)];
+    };
+
+    return key;
+}
+
+AttributeMap debug_map() {
+    auto debug_key = random_debug_key();
+    return debug_map(debug_key);
+}
+
+AttributeMap debug_map(std::string debug_key) {
+    AttributeMap map =
+        std::make_shared<std::unordered_map<std::string, std::shared_ptr<ProtoType>>>();
+    map->emplace(impl::debug_map_key, std::make_shared<ProtoType>(std::move(debug_key)));
+
+    return map;
+}
+
+AttributeMap add_debug_entry(AttributeMap map, std::string debug_key) {
+    map->emplace(impl::debug_map_key, std::make_shared<ProtoType>(std::move(debug_key)));
+    return map;
+}
+
+AttributeMap add_debug_entry(AttributeMap&& map, std::string debug_key) {
+    return add_debug_entry(map, std::move(debug_key));
+}
+
+AttributeMap add_debug_entry(AttributeMap&& map) {
+    auto debug_key = random_debug_key();
+    return add_debug_entry(map, std::move(debug_key));
+}
+
+void ClientContext::set_debug_key(const std::string& debug_key) {
+    wrapped_context_.AddMetadata("dtname", debug_key);
+}
+
 void ClientContext::add_viam_client_version_() {
     wrapped_context_.AddMetadata("viam_client", impl::k_version);
 }

src/viam/sdk/common/utils.hpp

@@ -58,13 +58,32 @@ class ClientContext {
     ClientContext();
     operator grpc::ClientContext*();
     operator const grpc::ClientContext*() const;
+    void set_debug_key(const std::string& debug_key);
 
    private:
     void set_client_ctx_authority_();
     void add_viam_client_version_();
     grpc::ClientContext wrapped_context_;
 };
 
+/// @brief Returns a new `AttributeMap` with a random key for server-side debug logging
+AttributeMap debug_map();
+
+/// @brief Returns a new `AttributeMap` with @param debug_key for server-side debug logging
+/// @throws Exception if the debug_key contains invalid (e.g., uppercase) gRPC characters
+AttributeMap debug_map(std::string debug_key);
+
+/// @brief Adds @param debug_key for server-side debug logging to @param map
+/// @throws Exception if the debug_key contains invalid (e.g., uppercase )gRPC characters
+AttributeMap add_debug_entry(AttributeMap&& map, std::string debug_key);
+
+/// @brief Adds @param debug_key for server-side debug logging to @param map
+/// @throws Exception if the debug_key contains invalid (e.g., uppercase )gRPC characters
+AttributeMap add_debug_entry(AttributeMap map, std::string debug_key);
+
+/// @brief Adds a random key to @param map for server-side debug logging
+AttributeMap add_debug_entry(AttributeMap&& map);
+
 /// @brief Set the boost trivial logger's severity depending on args.
 /// @param argc The number of args.
 /// @param argv The commandline arguments to parse.

src/viam/sdk/components/arm.hpp

@@ -93,6 +93,11 @@ class Arm : public Component, public Stoppable {
     /// @param extra Any additional arguments to the method.
     virtual std::vector<double> get_joint_positions(const AttributeMap& extra) = 0;
 
+    /// @brief Move each joint on the arm to the corresponding angle specified in @param positions
+    inline void move_to_joint_positions(const std::vector<double>& positions) {
+        return move_to_joint_positions(positions, {});
+    }
+
     /// @brief Move each joint on the arm to the corresponding angle specified in @param positions
     /// @param extra Any additional arguments to the method.
     virtual void move_to_joint_positions(const std::vector<double>& positions,

src/viam/sdk/components/private/motor_client.cpp

@@ -1,8 +1,6 @@
 #include <viam/sdk/components/private/motor_client.hpp>
 
-#include <algorithm>
 #include <memory>
-#include <stdexcept>
 #include <string>
 #include <utility>
 
@@ -21,7 +19,7 @@ namespace impl {
 MotorClient::MotorClient(std::string name, std::shared_ptr<grpc::Channel> channel)
     : Motor(std::move(name)),
       stub_(viam::component::motor::v1::MotorService::NewStub(channel)),
-      channel_(std::move(channel)){};
+      channel_(std::move(channel)) {};
 
 void MotorClient::set_power(double power_pct, const AttributeMap& extra) {
     return make_client_helper(this, *stub_, &StubType::SetPower)